Three-coordinate detection device and method

Abstract

The invention provides a three-coordinate detection device and method. The equipment comprises a part placing unit, a robot unit, a processing unit and a three-coordinate measuring instrument, the part placing unit is used for placing one or more to-be-tested parts; the processing unit is used for sending a taking instruction to the robot unit after receiving the triggering operation, and the robot unit is used for responding to the taking instruction, obtaining one to-be-measured part in the one or more to-be-measured parts from the part placing unit to serve as a first part, placing the first part at the measuring position of the three-coordinate measuring instrument, and sending the first part to the three-coordinate measuring instrument. The pose of the robot unit is adjusted to be a safe pose, and a measurement instruction is sent to the three-coordinate measuring instrument; the three-coordinate measuring instrument is used for responding to the measuring instruction, automatically calling the measuring program corresponding to the first part from the processing unit and measuring the first part. The measurement process is automatically completed, the labor cost is reduced, and the detection efficiency is improved. And the device is universal for different types of parts, the device universality is high, and the device utilization rate is increased.

Description

Technical Field

[0001] The present disclosure relates to the field of detection technology, and in particular to a three-coordinate detection device and method. Background Art

[0002] The three axes of the three-dimensional coordinate measuring machine are equipped with air brake switches and micro-motion devices, which can realize the precision transmission of a single axis and adopt a high-performance data acquisition system. It is used for precision measurement of product design, mold equipment, gear measurement, blade measurement machinery manufacturing, fixtures, auto mold accessories, electronic appliances, etc.

[0003] Currently, three-coordinate measuring machines can complete automatic inspection based on existing programs.

[0004] However, when the three-dimensional coordinate measuring machine is working, personnel still need to be present, that is, personnel are required to place the parts to be measured on the three-dimensional coordinate measuring machine and manually call the parts detection program. After the parts to be measured are detected, the parts need to be replaced manually, which wastes human resources and has low detection efficiency. Summary of the invention

[0005] The present disclosure provides a three-coordinate detection device and method to solve the problem of low detection efficiency of current three-coordinate testers.

[0006] In a first aspect, the present disclosure provides a three-coordinate inspection device, comprising: a part placement unit, a robot unit, a processing unit, and a three-coordinate measuring machine;

[0007] The part placement unit is used to place one or more parts to be tested;

[0008] The processing unit is used to send a picking instruction to the robot unit after receiving a trigger operation, wherein the picking instruction includes position information of the part to be tested placed in the part placement unit;

[0009] The robot unit is used to, in response to the taking instruction, obtain one of the one or more parts to be measured from the part placement unit as a first part; place the first part at a measuring position of the three-dimensional coordinate measuring machine; adjust the posture of the robot unit to a safe posture, and send a measurement instruction to the three-dimensional coordinate measuring machine;

[0010] The three-dimensional coordinate measuring machine is used to measure the first part in response to the measurement instruction based on the measurement program corresponding to the first part obtained from the processing unit.

[0011] In some embodiments, the three-dimensional coordinate measuring machine is further used to: after measuring the first part, send a measurement completion notification to the robot unit;

[0012] The robot unit is further used to: after receiving a measurement completion notification sent by the three-dimensional coordinate measuring machine, take the first part away from the three-dimensional coordinate measuring machine.

[0013] In some embodiments, the robotic unit is further configured to:

[0014] After the first part is taken away from the three-dimensional coordinate measuring machine, the process returns to the step of obtaining one of the one or more parts to be measured from the part placement unit as the first part.

[0015] In some embodiments, the three-coordinate detection device further includes: a first safety module;

[0016] The three-dimensional coordinate measuring machine is specifically used to: after measuring the first part, adjust the posture of the three-dimensional coordinate measuring machine to an initial posture, and send a measurement completion notification to the robot unit;

[0017] The first safety module is used to detect whether the posture of the three-dimensional coordinate measuring machine is in an initial posture after the three-dimensional coordinate measuring machine completes measuring the first part, and if the posture of the three-dimensional coordinate measuring machine is in the initial posture, send a safety notification to the robot unit;

[0018] The robot unit is specifically used to take the first part away from the three-dimensional coordinate measuring machine after receiving the measurement completion notification and the safety notification.

[0019] In some embodiments, the processing unit is further configured to:

[0020] Receiving identification information of the measurement programs respectively corresponding to the one or more parts to be measured;

[0021] According to the identification information of each measurement program, the measurement program corresponding to the one or more parts to be measured is obtained.

[0022] In some embodiments, the part placement unit has a plurality of storage slots, each of which can hold a part to be tested, and a sensor is disposed at the bottom of each storage slot;

[0023] The processing unit is also used to: determine whether the part to be tested is placed in the storage slot corresponding to the sensor through the sensor, and determine the information of the storage slot where the part to be tested is placed as the position information of the part to be tested placed in the part placement unit; after determining through the sensor that the part to be tested is placed in the storage slot corresponding to the sensor, display a first icon indicating that the part has been placed in the storage slot corresponding to the sensor through the display module.

[0024] In some embodiments, the part placement unit also includes: one or more bases; each of the one or more bases is used to store a part to be measured and is placed on a storage slot; a structural member is fixedly arranged at the measuring position of the three-dimensional coordinate measuring instrument, and the robot unit detachably and fixedly connects the base for placing the part to be measured to the structural member.

[0025] In some embodiments, the three-coordinate measuring machine is also used for:

[0026] After the measurement of the first part is completed, the measurement result data corresponding to the first part is sent to the terminal device.

[0027] In a second aspect, the present disclosure provides a three-coordinate detection method, which is applied to a three-coordinate detection device, wherein the three-coordinate detection device includes: a part placement unit, a robot unit, a processing unit, and a three-coordinate measuring machine; the three-coordinate detection method includes:

[0028] After receiving the trigger operation, the processing unit sends a picking instruction to the robot unit, wherein the picking instruction includes position information of the part to be tested placed in the part placement unit;

[0029] The robot unit, in response to the taking instruction, obtains a part to be tested in the part placement unit from the part placement unit as a first part;

[0030] The robot unit places the first part at a measuring position of the coordinate measuring machine;

[0031] The robot unit adjusts the posture of the robot unit to a safe posture and sends a measurement instruction to the three-dimensional coordinate measuring machine;

[0032] The three-dimensional coordinate measuring machine measures the first part in response to the measurement instruction based on the measurement program corresponding to the first part obtained from the processing unit.

[0033] In some embodiments, the method further comprises:

[0034] After the three-dimensional coordinate measuring machine completes measuring the first part, it sends a measurement completion notification to the robot unit;

[0035] After receiving the measurement completion notification sent by the three-dimensional coordinate measuring machine, the robot unit takes the first part away from the three-dimensional coordinate measuring machine.

[0036] In some embodiments, the method further comprises:

[0037] After taking the first part away from the three-dimensional coordinate measuring machine, the robot unit returns to execute the step of obtaining one of the one or more parts to be measured from the part placement unit as the first part.

[0038] In some embodiments, the three-coordinate detection device further includes: a first safety module; the method further includes:

[0039] After the three-dimensional coordinate measuring machine completes measuring the first part, the three-dimensional coordinate measuring machine adjusts the posture of the three-dimensional coordinate measuring machine to an initial posture, and sends a measurement completion notification to the robot unit;

[0040] The first safety module detects whether the position of the three-dimensional coordinate measuring machine is in an initial position after the three-dimensional coordinate measuring machine completes measuring the first part, and sends a safety notification to the robot unit if the position of the three-dimensional coordinate measuring machine is in the initial position;

[0041] After receiving the measurement completion notification sent by the three-dimensional coordinate measuring machine, the robot unit takes the first part away from the three-dimensional coordinate measuring machine, including:

[0042] After receiving the measurement completion notification and the safety notification, the robot unit takes the first part away from the three-dimensional coordinate measuring machine.

[0043] In some embodiments, the method further comprises:

[0044] The processing unit receives identification information of the measurement programs respectively corresponding to the one or more parts to be measured;

[0045] The processing unit obtains the measurement programs corresponding to the one or more parts to be measured according to the identification information of each measurement program.

[0046] In some embodiments, the part placement unit has a plurality of storage slots, each of which can hold a part to be tested, and a sensor is disposed at the bottom of each storage slot; the method further comprises:

[0047] The processing unit determines whether the part to be tested is placed on the storage slot corresponding to the sensor through the sensor, and determines the information of the storage slot where the part to be tested is placed as the position information of the part to be tested placed in the part placement unit;

[0048] After the processing unit determines through the sensor that the part to be tested is placed in the storage slot corresponding to the sensor, the display module displays a first icon indicating that the part has been placed in the storage slot corresponding to the sensor.

[0049] In some embodiments, the part placement unit further comprises: one or more bases; each of the one or more bases is used to store a part to be measured and is placed on a storage slot; a structural member is fixedly arranged at the measuring position of the three-dimensional coordinate measuring machine;

[0050] The robot unit, in response to the taking instruction, obtains a part to be tested in the part placement unit from the part placement unit as a first part, including:

[0051] In response to the picking instruction, the robot unit detachably and fixedly connects a base on which a part to be tested is placed to the structural member, and uses the part to be tested as the first part.

[0052] In some embodiments, the method further comprises:

[0053] After completing the measurement of the first part, the three-dimensional coordinate measuring machine sends the measurement result data corresponding to the first part to the terminal device.

[0054] The three-coordinate detection device and method provided by the embodiments of the present disclosure use a robot unit to replace manual labor to load the three-coordinate measuring machine, and use a processing module to replace manual labor to send the measurement program corresponding to the first part to the three-coordinate measuring machine. The measurement process of the three-coordinate measuring machine can be automatically completed through the cooperation of the above-mentioned units, which reduces labor costs and improves detection efficiency. It is universal for different types of parts and has high versatility. In addition, since the measurement process of the three-coordinate measuring machine can be completed automatically, the three-coordinate detection equipment can be used for measurement at night when personnel are unable to be on duty at the three-coordinate detection equipment, thereby improving the utilization rate of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 A schematic diagram of the structure of a three-coordinate detection device provided in an embodiment of the present disclosure;

[0056] Figure 2 A schematic diagram of the structure of another three-coordinate detection device provided by an embodiment of the present disclosure;

[0057] Figure 3 A schematic flow chart of a three-coordinate detection method provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0058] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0059] In the present disclosure, "at least one" refers to one or more, and "plurality" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the objects associated before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a alone, b alone, or c alone can represent: a alone, b alone, c alone, a and b in combination, a and c in combination, b and c in combination, or a, b, and c in combination, where a, b, and c can be single or multiple. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0060] The directions or positional relationships indicated by terms such as "center", "longitudinal", "lateral", "up", "down", "left", "right", "front", and "back" are based on the directions or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present disclosure and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present disclosure.

[0061] The terms "connected" and "connected" should be understood in a broad sense. For example, the "connected" or "connected" of a circuit structure may refer to not only a physical connection, but also an electrical connection or a signal connection. For example, it may be a direct connection, i.e. a physical connection, or it may be an indirect connection through at least one intermediate element, as long as the circuit is connected. It may also be the internal connection of two elements. In addition to signal connection through a circuit, signal connection may also refer to signal connection through a media medium, such as radio waves. For those of ordinary skill in the art, the specific meanings of the above terms in this disclosure may be understood according to specific circumstances.

[0062] In the process of using a three-dimensional coordinate measuring machine to inspect parts, the user is usually required to place the part to be inspected at the measuring position of the three-dimensional coordinate measuring machine, find the coordinate position of the part on the equipment, select the inspection program corresponding to the part to be inspected through the terminal device connected to the three-dimensional coordinate measuring machine, and the three-dimensional coordinate measuring machine automatically inspects the part to be inspected based on the inspection program. After the inspection is completed, the user manually removes the part to be inspected from the three-dimensional coordinate measuring machine to complete the inspection of the part to be inspected. If there are other parts that need to be inspected, the user manually places the next part to be inspected at the measuring position of the three-dimensional coordinate measuring machine and repeats the above steps to inspect the next part to be inspected.

[0063] It can be seen that during the inspection of parts by the above three-dimensional coordinate measuring machine, the user needs to operate the three-dimensional coordinate measuring machine, which consumes manpower costs. When there is no one, the three-dimensional coordinate measuring machine cannot complete the inspection work independently. When people are resting, such as at night, the three-dimensional coordinate inspection cannot be carried out.

[0064] In view of the above problems, the embodiment of the present disclosure provides a three-coordinate detection device, in which a robot unit, a part placement unit and a processing unit are arranged next to a three-coordinate measuring machine. After receiving a trigger operation, the processing unit sends a pick-up instruction containing the position information of the part to be measured placed in the part placement unit to the robot unit. In response to the pick-up instruction, the robot unit obtains a part to be measured in the part placement unit from the part placement unit as the first part. The robot unit places the first part at the measurement position of the three-coordinate measuring machine; the robot unit adjusts the posture of the robot unit to a safe posture, and sends a measurement instruction to the three-coordinate measuring machine. In response to the measurement instruction, the three-coordinate measuring machine measures the first part based on the measurement program corresponding to the first part obtained from the processing unit. Thus, the robot unit replaces manual labor to load the three-coordinate measuring machine, and the processing module replaces manual labor to automatically send the measurement program corresponding to the first part to the three-coordinate measuring machine. The measurement process of the three-coordinate measuring machine can be automatically completed through the cooperation of the above-mentioned units, which reduces labor costs and improves detection efficiency. In addition, since the measurement process of the three-coordinate measuring instrument can be completed automatically, the three-coordinate detection equipment can be used for measurement at night when personnel are unable to be on duty at the three-coordinate detection equipment, thereby improving the utilization rate of the equipment.

[0065] The technical solution of the present disclosure is described in detail below with reference to specific embodiments.

[0066] See also Figure 1 , Figure 1 A schematic diagram of the structure of a three-coordinate detection device provided in an embodiment of the present disclosure is shown in FIG. Figure 1 As shown, the three-coordinate detection equipment may include: a part placement unit 11, a robot unit 13, a processing unit and a three-coordinate measuring machine 12, wherein: Figure 1 The processing unit is not shown in FIG. The robot unit 13 can be as follows Figure 1 The robot unit 13 is fixedly installed as shown; the robot unit 13 can also be fixedly installed on a plane different from the part placement unit 11, for example, the robot unit 13 can be fixedly installed on the first table, and the part placement unit 11 is installed on the second table; the robot unit 13 can also be installed non-fixedly, for example, the robot unit 13 can be moved between the part placement unit 11 and the three-dimensional coordinate measuring machine 12. The present disclosure does not limit the installation method of the robot unit 13. The processing unit can be set on the side of the table under the part placement unit 11, or it can be set at other locations. It can be understood Figure 1 This is only an example of the three-coordinate detection device and does not constitute a limitation of the present disclosure. The following introduces each unit in the three-coordinate detection device and its working principle.

[0067] The part placement unit 11 is used to place one or more parts to be tested. The part placement unit 11 can be as follows Figure 1 The shelf structure shown may also be other structures as long as the parts to be tested can be placed. It should be noted that before the robot unit 13 takes the parts to be tested, the structure and placement position of the parts placement unit 11 can be obtained in advance.

[0068] The processing unit is used to send a picking instruction to the robot unit 13 after receiving the trigger operation.

[0069] The trigger operation is used to indicate that the part placement unit 11 has currently placed the part to be tested, and the three-coordinate detection device can start the detection work. The trigger operation is usually triggered at a button or a control in an interface displayed on a display module connected to the processing unit.

[0070] The fetching instruction is used to instruct the robot unit 13 to fetch the part to be measured from the part placement unit 11 and place it on the three-dimensional coordinate measuring machine 12. The fetching instruction includes the position information of the part to be measured placed in the part placement unit 11.

[0071] There may be multiple ways for the processing unit to obtain the position information of the part to be tested placed in the part placement unit 11. For example, the processing unit may obtain the position information of the part to be tested through user input; the processing unit may also be connected to a corresponding detection module, and the detection module may detect the position information of the part to be tested placed in the part placement unit 11 and send the position information of the part to be tested to the processing unit.

[0072] Exemplarily, the processing unit may be a programmable logic controller (PLC), and the PLC may perform corresponding functions by inputting corresponding programs.

[0073] Furthermore, the processing unit is also used to record preset events generated during the operation of the three-coordinate detection device to obtain event information. The preset event refers to an event process that affects the normal operation of the three-coordinate detection device, such as an event in which the manipulator collides with the three-coordinate measuring instrument during operation.

[0074] The event information may include, but is not limited to: time information of the event, event description information, and information on whether the event has been resolved.

[0075] By processing the event information of the unit, it is easy to trace the events that occurred, find the causes and solve them in time, and facilitate equipment maintenance.

[0076] The robot unit 13 is used to respond to the fetching instruction, obtain one of the one or more parts to be measured from the part placement unit as the first part, place the first part at the measurement position of the three-dimensional coordinate measuring machine, adjust the posture of the robot unit 13 to a safe posture, and send a measurement instruction to the three-dimensional coordinate measuring machine.

[0077] The robot unit 13 generally includes a manipulator and a processor, and the robot unit 13 can control the manipulator through the processor to achieve the picking and placing of the parts to be tested. The manipulator can also be called a robotic arm. The load-bearing capacity and arm length of the manipulator can be set according to the weight of the parts to be tested that are expected to be picked up and the shape of the parts to be tested.

[0078] The safe posture refers to the position and posture of the robot unit 13 that will not cause harm to personnel and equipment. Since the three-dimensional coordinate measuring machine 12 is usually in the initial position, when executing the measurement program, the probe 121 usually moves on the test table 122. Therefore, the robot unit 13 needs to ensure that it does not collide with the probe 121, that is, it is in a safe posture.

[0079] For example, the safe posture can be that the robot unit 13 adjusts the manipulator to face a direction perpendicular to the three-dimensional coordinate measuring machine 12. In addition, a personnel passage can be set next to the three-dimensional coordinate detection device, and the safe posture can be set so that the manipulator of the robot unit 13 faces the opposite direction of the personnel passage.

[0080] The measurement instruction is used to instruct the three-dimensional coordinate measuring machine 12 to measure the first part.

[0081] The three-dimensional coordinate measuring machine 12 is used to measure the first part in response to the measurement instruction and based on the measurement program corresponding to the first part obtained from the processing unit.

[0082] After receiving the measurement instruction, the three-dimensional coordinate measuring machine 12 can obtain the measurement program corresponding to the first part from the processing unit. Since the three-dimensional coordinate measuring machine 12 can measure one or more types of parts, the three-dimensional coordinate measuring machine 12 may use different measurement programs when measuring different types of parts. Therefore, the processing unit needs to obtain the corresponding measurement program according to the current type of the first part.

[0083] Exemplarily, the measurement program may be an upper and lower cover detection program, a cover program, a back side program, or a base program, etc.

[0084] Exemplarily, the measurement program may be stored in a database, and the processing unit may obtain the measurement program from the database.

[0085] In actual application, the user places the part to be measured on the part placement unit 11. The processing unit receives the user's trigger operation and sends a pick-up instruction containing the position information of the part to be measured placed in the part placement unit to the robot unit 13. In response to the pick-up instruction, the robot unit 13 obtains a part to be measured in the part placement unit from the part placement unit 11 through a manipulator as the first part. The robot unit 13 places the first part at the measurement position of the three-dimensional coordinate measuring machine 12. The robot unit 13 adjusts the posture of the robot unit 13 to a safe posture and sends a measurement instruction to the three-dimensional coordinate measuring machine. In response to the measurement instruction, the three-dimensional coordinate measuring machine measures the first part based on the measurement program corresponding to the first part obtained from the processing unit.

[0086] In this embodiment, the robot unit replaces manual labor to load the three-dimensional coordinate measuring machine, and the processing module replaces manual labor to automatically send the measurement program corresponding to the first part to the three-dimensional coordinate measuring machine. The measurement process of the three-dimensional coordinate measuring machine can be automatically completed through the cooperation of the above-mentioned units, which reduces labor costs and improves detection efficiency. It is universal for different types of parts and has high versatility. In addition, since the measurement process of the three-dimensional coordinate measuring machine can be completed automatically, the three-dimensional coordinate detection equipment can be used for measurement at night when personnel are unable to be on duty at the three-dimensional coordinate detection equipment, thereby improving the utilization rate of the equipment.

[0087] In some scenarios, after the three-dimensional coordinate measuring machine 12 completes measuring the first part, the robot unit 13 can automatically take the first part away from the three-dimensional coordinate measuring machine 12. The following is a detailed description with specific embodiments.

[0088] In some embodiments, the three-dimensional coordinate measuring machine 12 is further configured to send a measurement completion notification to the robot unit 13 after the measurement of the first part is completed.

[0089] The measurement completion notification is used to indicate that the measurement of the first part is completed.

[0090] The robot unit 13 is further used to take the first part away from the three-dimensional coordinate measuring machine 12 after receiving the measurement completion notification sent by the three-dimensional coordinate measuring machine 12.

[0091] In actual application, after the three-coordinate measuring machine 12 completes the measurement of the current first part, it sends a measurement completion notification to the robot unit 13. After receiving the measurement completion notification, the robot unit 13 takes the first part away from the three-coordinate measuring machine 12. The robot unit 13 can place the first part at the position where the first part is obtained from the part placement unit 11, or in other set areas, which is not limited in the present disclosure. In the scenario of three-coordinate measurement, the size of the part is usually measured, and the measurement data is not processed. Therefore, the robot unit 13 places the first part at the position where the first part is obtained from the part placement unit 11, which is more convenient for the management of the part.

[0092] In this embodiment, after the three-coordinate measuring machine 12 completes the measurement of the current first part, a measurement completion notification is sent to the robot unit 13. After receiving the measurement completion notification, the robot unit 13 takes the first part away from the three-coordinate measuring machine 12. The three-coordinate detection device automatically completes the unloading, which reduces the labor cost and improves the detection efficiency. In addition, since the measurement process of the three-coordinate measuring machine 12 can be completed automatically, the three-coordinate detection device can perform the measurement at night when personnel are unable to be on duty at the three-coordinate detection device, thereby improving the utilization rate of the device.

[0093] In some scenarios, the three-coordinate device can automatically measure the next part to be measured, thereby automatically completing the measurement of multiple parts without manual work. The following is a detailed description with specific embodiments. The following is a detailed description with specific embodiments.

[0094] In some embodiments, the robot unit 13 is further used to return to obtain one of the one or more parts to be measured from the part placement unit 11 as the first part after taking the first part away from the three-dimensional coordinate measuring machine 12.

[0095] In actual application, if there are two or more parts to be measured, the robot unit 13 obtains the next part to be measured from the part placement unit 11 as the first part, and repeats the above-mentioned process of placing the parts and measuring the coordinate measuring machine 12. That is, the robot unit 13 places the first part at the measurement position of the coordinate measuring machine 12, adjusts the posture of the robot unit 13 to a safe posture, and sends a measurement instruction to the coordinate measuring machine 12. In response to the measurement instruction, the coordinate measuring machine 12 measures the first part based on the measurement program corresponding to the first part obtained from the processing unit.

[0096] For example, when personnel cannot be on duty at the three-coordinate measuring device at night, multiple parts to be measured can be placed on the part placement unit 11. The processing unit receives the trigger operation of the user and sends a pick-up instruction containing the position information of the parts to be measured placed in the part placement unit 11 to the robot unit 13. In response to the pick-up instruction, the robot unit 13 obtains a part to be measured in the part placement unit 11 from the part placement unit 11 through the manipulator as the first part. The robot unit 13 places the first part at the measurement position of the three-coordinate measuring machine 12. The robot unit 13 adjusts the posture of the robot unit 13 to a safe posture and sends a measurement instruction to the three-coordinate measuring machine 12. In response to the measurement instruction, the three-coordinate measuring machine 12 measures the first part based on the measurement program corresponding to the first part obtained from the processing unit. After the three-coordinate measuring machine 12 completes the measurement of the current first part, it sends a measurement completion notification to the robot unit 13. After receiving the measurement completion notification, the robot unit 13 takes the first part away from the three-coordinate measuring machine 12. The robot unit 13 obtains the next part to be measured from the part placement unit 11 as the first part, and repeats the above process of placing the part and measuring by the three-dimensional coordinate measuring machine 12. Thus, the measurement of all the parts to be measured placed on the part placement unit 11 is completed.

[0097] In this embodiment, the three-coordinate device can automatically complete the measurement of the next part to be measured, thereby reducing labor costs and improving detection efficiency. In addition, since the measurement process of the three-coordinate measuring instrument can be completed automatically, the three-coordinate detection device can measure multiple parts to be measured at night when personnel are unable to be on duty at the three-coordinate detection device, thereby improving the utilization rate of the device.

[0098] In some embodiments, for safety reasons, the robot unit 13 needs to avoid collision with the probe 121 of the coordinate measuring machine 12 when taking away the first part after measurement.

[0099] There are many ways for the robot unit 13 to take the first part away from the three-dimensional coordinate measuring machine 12, and two of them are described as examples below.

[0100] In a possible implementation, the probe 121 of the three-dimensional coordinate measuring machine 12 usually returns to the position and posture before the measurement, that is, the initial posture, after the measurement is completed. Therefore, the time required for the three-dimensional coordinate measuring machine 12 to return to the initial posture can be preset, and the robot unit 13 waits for the preset time after receiving the notification of the completion of the measurement, and then removes the first part from the three-dimensional coordinate measuring machine 12.

[0101] In another possible implementation, the three-coordinate detection device further includes a first safety module.

[0102] The first safety module is used to detect whether the position of the three-dimensional coordinate measuring machine 12 is in the initial position after the three-dimensional coordinate measuring machine 12 completes the measurement of the first part. If the position of the three-dimensional coordinate measuring machine 12 is in the initial position, a safety notification is issued to the robot unit 13.

[0103] The safety notification is used to indicate that the position and posture of the three-dimensional coordinate measuring machine 12 is in the initial position and posture.

[0104] Furthermore, if the position and posture of the three-dimensional coordinate measuring machine 12 is not in the initial position and posture, a warning notification may be issued to the robot unit 13. The warning notification is used to indicate that the position and posture of the three-dimensional coordinate measuring machine 12 is not in the initial position and posture.

[0105] For example, see Figure 2 , Figure 2 A structural schematic diagram of another three-coordinate detection device provided in an embodiment of the present disclosure, wherein a first safety module 14 can be disposed on a side of a three-coordinate measuring machine 12, facing a probe 121 of the three-coordinate measuring machine 12. The first safety module 14 can be an infrared detection device, which determines whether the probe 121 has returned to its initial position through infrared detection.

[0106] The three-dimensional coordinate measuring machine 12 is specifically used to adjust the posture of the three-dimensional coordinate measuring machine 12 to an initial posture after the measurement of the first part is completed, and send a measurement completion notification to the robot unit 13.

[0107] The robot unit 13 is specifically used to take the first part away from the three-dimensional coordinate measuring machine 12 after receiving the measurement completion notification and the safety notification.

[0108] In actual application, after the three-coordinate tester completes the measurement of the first part, it adjusts its own posture to the initial posture and sends a measurement completion notification to the robot unit 13. After the three-coordinate tester completes the measurement of the first part, the first safety module detects the posture of the three-coordinate measuring machine 12. If it is detected that the three-coordinate measuring machine 12 is in the initial posture, a safety notification is sent to the robot unit 13. After receiving the measurement completion notification sent by the three-coordinate tester and the safety notification sent by the first safety module, the robot confirms that the current three-coordinate measuring machine 12 has completed the measurement and is in the initial posture. At this time, the action of the robot unit 13 will not collide with the three-coordinate measuring machine 12, and the robot unit 13 takes the first part away from the three-coordinate measuring machine 12.

[0109] In this embodiment, by setting up the first safety module, it is possible to detect whether the position of the three-dimensional coordinate measuring machine 12 is in the initial position, thereby ensuring the safety of the robot unit 13 and the three-dimensional coordinate measuring machine 12 during the operation of the three-dimensional coordinate detection equipment, thereby improving the safety of the equipment.

[0110] In some embodiments, the processing unit is further configured to:

[0111] Receive identification information of measurement programs corresponding to one or more parts to be measured.

[0112] According to the identification information of each measurement program, the measurement program corresponding to one or more parts to be measured is obtained.

[0113] The identification information of the measurement program may be numbers, letters, or character strings, etc. The present disclosure does not limit the form of the identification information of the measurement program.

[0114] In practical applications, the processing unit can be connected to a human-computer interaction module, and the human-computer interaction module can receive identification information of a measurement program of a part to be measured input by a user. Exemplarily, the human-computer interaction module can be a touch screen. The processing unit obtains the corresponding measurement program according to the received identification information of the measurement program corresponding to one or more parts to be measured.

[0115] In this embodiment, the personnel input the identification information of the measurement program of the part to be measured into the processing unit, and the processing unit can obtain the corresponding measurement program, thereby automatically measuring the part to be measured, reducing labor costs and improving detection efficiency. In addition, since the measurement process of the three-coordinate measuring instrument 12 can be completed automatically, the three-coordinate detection equipment can be used at night when personnel cannot be on duty at the three-coordinate detection equipment to perform measurements, thereby improving the utilization rate of the equipment.

[0116] In some embodiments, the part placement unit 11 has a plurality of storage slots, and each storage slot can be used to place a part to be tested.

[0117] Furthermore, a sensor is provided at the bottom of each storage slot.

[0118] The processing unit is also used to: determine whether the part to be tested is placed in the storage slot corresponding to the sensor through the sensor, and determine the information of the storage slot where the part to be tested is placed as the position information of the part to be tested placed in the part placement unit 11. After determining that the part to be tested is placed in the storage slot corresponding to the sensor through the sensor, the first icon indicating that the part has been placed in the storage slot corresponding to the sensor is displayed through the display module.

[0119] The first icon may be green or lighted to indicate a corresponding storage location slot.

[0120] Furthermore, the user may not place all the parts in the part placement unit 11, that is, some storage slots do not have the parts to be tested. In this case, in the device provided in this embodiment, the processing unit is also used to display a second icon indicating that the storage slot corresponding to the sensor has no parts placed therein through the display module.

[0121] The second icon may be a gray or dark icon representing a storage location slot.

[0122] In practical applications, the size of the part placement unit 11 and each storage slot on the part placement unit 11 can be set according to the size of the part to be tested, etc. Each storage slot can be used to place different types of parts, and has universality for parts. In addition, a storage slot with a more suitable number of storage slots can also be designed according to the scene requirements. A sensor is set at the bottom of each storage slot, and the sensor can detect whether there is an object blocking it, or there is an object pressure, etc. The sensor is connected to the processing unit, and the processing unit pre-stores the corresponding relationship between the sensor and the storage slot. Therefore, the processing unit can obtain whether each storage slot is placed with the part to be tested through each sensor. After the user places the part to be tested on the storage slot, the processing unit obtains whether each storage slot is placed with the part to be tested through each sensor, so as to display the situation of each storage slot placing the part to be tested on the display module connected thereto, that is, whether each storage slot is placed with the part to be tested. Thus, the personnel can compare the placement of the part to be tested in the storage slot displayed by the display module with the current actual situation to check whether the display is wrong. Furthermore, personnel can set the measurement program corresponding to the parts to be measured in each storage slot based on the intuitive display of the display module.

[0123] Furthermore, the processing module can also be used to understand the situation of the robot unit 13 taking parts in real time through the sensors on the storage slots. For example, after the processing module sends a taking instruction to the robot unit 13 and the robot unit 13 takes the part to be measured from the storage slot, the processing module determines through the sensors on the storage slots that the robot unit 13 has taken the part to be measured on the storage slot corresponding to the sensor, and can obtain the measurement program corresponding to the part to be measured on the storage slot according to the information of the storage slot, and send the measurement program to the three-dimensional coordinate measuring machine 12. The working efficiency of the equipment is improved.

[0124] Furthermore, the part placement unit 11 further comprises: one or more bases; each of the one or more bases is used to store a part to be tested and is placed on a storage slot. Different bases can be set according to the shape of the part to be tested.

[0125] A structural member is fixedly arranged at the measuring position of the three-dimensional coordinate measuring machine 12 , and the robot unit 13 detachably and fixedly connects a base on which the part to be measured is placed to the structural member.

[0126] In actual application, personnel place the part to be tested on the corresponding base, and place the base on the storage slot. When the robot unit 13 takes the part to be tested, it directly takes the base on which the part to be tested is placed, and places the base on which the part to be tested is placed on the structural member. Thus, by setting the base and the matching structural member, the robot unit 13 can place the part to be tested more accurately, thereby improving the measurement efficiency. In addition, the universal base can realize armoring of flat parts. In the later stage, without changing the original part placement unit 11, armoring of newly added types of parts can be realized through the base corresponding to the newly added types of parts, thereby improving the versatility of the equipment.

[0127] In some embodiments, the three-dimensional coordinate measuring machine 12 is further used to send measurement result data corresponding to the first part to the terminal device after measuring the first part.

[0128] The terminal device may be a computer, a personal computer or other device connected to the three-dimensional coordinate measuring machine 12 .

[0129] In this embodiment, the measurement result data can be exported in an orderly manner, thereby improving the automation level of the equipment.

[0130] See also Figure 3 , Figure 3 A schematic flow chart of a three-coordinate detection method provided in an embodiment of the present disclosure is applied to a three-coordinate detection device, the three-coordinate detection device includes: a part placement unit, a robot unit, a processing unit and a three-coordinate measuring instrument, and the three-coordinate detection device can be the three-coordinate detection device in the above embodiment. The three-coordinate detection method provided in this embodiment may include the following steps:

[0131] Step 301: After receiving a trigger operation, the processing unit sends a picking instruction to the robot unit, where the picking instruction includes position information of the part to be tested placed in the part placement unit.

[0132] Step 302: The robot unit responds to the taking instruction and obtains a part to be tested in the part placement unit as the first part.

[0133] Step 303: The robot unit places the first part at a measuring position of the three-dimensional coordinate measuring machine.

[0134] Step 304: The robot unit adjusts the posture of the robot unit to a safe posture and sends a measurement instruction to the three-dimensional coordinate measuring machine.

[0135] Step 305: The three-dimensional coordinate measuring machine measures the first part in response to the measurement instruction based on the measurement program corresponding to the first part obtained from the processing unit.

[0136] In some embodiments, the method provided in this embodiment further includes:

[0137] After the three-dimensional coordinate measuring machine completes the measurement of the first part, it sends a measurement completion notification to the robot unit;

[0138] After receiving the measurement completion notification sent by the three-dimensional coordinate measuring machine, the robot unit takes the first part away from the three-dimensional coordinate measuring machine.

[0139] In some embodiments, the method provided in this embodiment further includes:

[0140] After taking the first part away from the three-dimensional coordinate measuring machine, the robot unit returns to obtain one of the one or more parts to be measured from the part placement unit as the first part.

[0141] In some embodiments, the three-coordinate detection device further includes: a first safety module; the method provided in this embodiment further includes:

[0142] After the three-dimensional coordinate measuring machine completes the measurement of the first part, the three-dimensional coordinate measuring machine is adjusted to an initial position and a measurement completion notification is sent to the robot unit;

[0143] The first safety module detects whether the position of the three-dimensional coordinate measuring machine is in an initial position after the three-dimensional coordinate measuring machine completes measuring the first part, and sends a safety notification to the robot unit if the position of the three-dimensional coordinate measuring machine is in the initial position;

[0144] After receiving the measurement completion notification sent by the three-dimensional coordinate measuring machine, the robot unit takes the first part away from the three-dimensional coordinate measuring machine, including:

[0145] After receiving the measurement completion notification and the safety notification, the robot unit takes the first part away from the three-dimensional coordinate measuring machine.

[0146] In some embodiments, the method provided in this embodiment further includes:

[0147] The processing unit receives identification information of the measurement programs corresponding to one or more parts to be measured;

[0148] The processing unit obtains the measurement programs corresponding to one or more parts to be measured according to the identification information of each measurement program.

[0149] In some embodiments, the part placement unit has a plurality of storage slots, each of which can hold a part to be tested, and a sensor is disposed at the bottom of each storage slot. The method provided in this embodiment also includes:

[0150] The processing unit determines whether the part to be tested is placed on the storage slot corresponding to the sensor through the sensor, and determines the information of the storage slot where the part to be tested is placed as the position information of the part to be tested placed in the part placement unit;

[0151] After the processing unit determines through the sensor that the part to be tested is placed on the storage slot corresponding to the sensor, the display module displays a first icon indicating that the part has been placed in the storage slot corresponding to the sensor.

[0152] In some embodiments, the part placement unit further includes: one or more bases; each of the one or more bases is used to store a part to be measured and is placed on a storage slot; and a structural member is fixedly arranged at the measuring position of the three-dimensional coordinate measuring machine.

[0153] Step 302 may include:

[0154] In response to the picking instruction, the robot unit detachably and fixedly connects a base on which a part to be tested is placed to the structural member, and uses the part to be tested as the first part.

[0155] In some embodiments, the method provided in this embodiment further includes:

[0156] After completing the measurement of the first part, the three-dimensional coordinate measuring machine sends the measurement result data corresponding to the first part to the terminal device.

[0157] The implementation principle and beneficial effects of the method provided in this embodiment are similar to those of the above embodiments and will not be repeated here.

[0158] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The description and examples are intended to be exemplary only, and the true scope and spirit of the present disclosure are indicated by the following claims.

Claims

1. A three-coordinate detection device, characterized in that: include: Part placement cells, robotic cells, handling cells and coordinate measuring machines; The part placement unit is used to place one or more parts to be tested; The processing unit is configured to send a picking instruction to the robot unit after receiving a trigger operation, wherein the picking instruction includes position information of the part to be tested placed in the part placement unit; The robot unit is configured to obtain, in response to the taking instruction, one of the one or more parts to be tested from the part placement unit as a first part; placing the first part at a measuring position of the three-dimensional coordinate measuring machine; Adjusting the posture of the robot unit to a safe posture and sending a measurement instruction to the three-coordinate measuring machine; The three-coordinate measuring machine is configured to measure the first part in response to the measurement instruction and based on a measurement program corresponding to the first part obtained from the processing unit.

2. The three-coordinate detection device according to claim 1, characterized in that: The three-dimensional coordinate measuring machine is further configured to: after measuring the first part, send a measurement completion notification to the robot unit; The robot unit is further configured to remove the first part from the three-dimensional coordinate measuring machine after receiving a measurement completion notification from the three-dimensional coordinate measuring machine.

3. The three-coordinate detection device according to claim 2, characterized in that: The robotic unit is also used to: After the first part is removed from the three-dimensional coordinate measuring machine, the process returns to the step of obtaining one of the one or more parts to be measured from the part placement unit as the first part.

4. The three-coordinate detection device according to claim 2, characterized in that: The three-coordinate detection device further includes: a first safety module; The three-dimensional coordinate measuring machine is specifically configured to: after completing the measurement of the first part, adjust the posture of the three-dimensional coordinate measuring machine to an initial posture, and send a measurement completion notification to the robot unit; The first safety module is configured to detect whether the position of the three-dimensional coordinate measuring machine is in an initial position after the three-dimensional coordinate measuring machine completes measuring the first part, and issue a safety notification to the robot unit if the position of the three-dimensional coordinate measuring machine is in the initial position; The robot unit is specifically configured to remove the first part from the three-dimensional coordinate measuring machine after receiving the measurement completion notification and the safety notification.

5. The three-coordinate detection device according to claim 3, characterized in that: The processing unit is further configured to: Receiving identification information of the measurement programs corresponding to the one or more parts to be measured; According to the identification information of each measurement program, the measurement program corresponding to the one or more parts to be measured is obtained.

6. The three-coordinate detection device according to claim 1, characterized in that: The part placement unit has a plurality of slots, each of which can hold a part to be tested, and a sensor is provided at the bottom of each slot; The processing unit is further configured to: determine, by means of a sensor, whether a part to be tested is placed in a storage slot corresponding to the sensor, and determine information of the storage slot where the part to be tested is placed as position information of the part to be tested placed in the part placement unit; After the sensor determines that the part to be tested is placed on the storage slot corresponding to the sensor, the display module displays a first icon indicating that the part has been placed in the storage slot corresponding to the sensor.

7. The three-coordinate detection device according to claim 6, characterized in that: The part placement unit further includes: one or more bases; each of the one or more bases is used to store a part to be measured and is placed on a storage slot; a structural member is fixedly set at the measuring position of the three-dimensional coordinate measuring instrument; The robot unit is specifically configured to: in response to the picking instruction, detachably and fixedly connect a base on which a part to be tested is placed to the structural member, and use the part to be tested as the first part.

8. The three-coordinate detection device according to claim 1, characterized in that: The three-coordinate measuring machine is also used for: After the measurement of the first part is completed, the measurement result data corresponding to the first part is sent to the terminal device.

9. A three-coordinate detection method, characterized in that: Applied to three-coordinate detection equipment, the three-coordinate detection equipment includes: a part placement unit, a robot unit, a processing unit and a three-coordinate measuring instrument; the three-coordinate detection method includes: After receiving the trigger operation, the processing unit sends a picking instruction to the robot unit, wherein the picking instruction includes position information of the part to be tested placed in the part placement unit; The robot unit obtains a part to be tested in the part placement unit as a first part from the part placement unit in response to the taking instruction; The robot unit places the first part at a measuring position of the coordinate measuring machine; The robot unit adjusts the posture of the robot unit to a safe posture and sends a measurement instruction to the three-coordinate measuring machine; The three-dimensional coordinate measuring machine measures the first part in response to the measurement instruction based on the measurement program corresponding to the first part obtained from the processing unit.

10. The three-coordinate detection method according to claim 9, characterized in that: The method further comprises: After completing the measurement of the first part, the three-dimensional coordinate measuring machine sends a measurement completion notification to the robot unit; After receiving the measurement completion notification from the three-dimensional coordinate measuring machine, the robot unit removes the first part from the three-dimensional coordinate measuring machine.

Images